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print reason for setpoint invalidity

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Balduin
2025-07-23 14:06:34 +02:00
parent 21e4f6c33f
commit 7105c6df3e
1 changed files with 3 additions and 0 deletions
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src/modules/mc_pos_control/PositionControl/PositionControl.cpp
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@@ -228,6 +228,9 @@ bool PositionControl::_inputValid()
// Every axis x, y, z needs to have some setpoint
for (int i = 0; i <= 2; i++) {
valid = valid && (PX4_ISFINITE(_pos_sp(i)) || PX4_ISFINITE(_vel_sp(i)) || PX4_ISFINITE(_acc_sp(i)));
if (!valid) {
printf("invalidated at axis %d. pos finite %d, vel finite %d, acc finite %d\n", i, PX4_ISFINITE(_pos_sp(i)), PX4_ISFINITE(_vel_sp(i)), PX4_ISFINITE(_acc_sp(i)));
}
}
// x and y input setpoints always have to come in pairs